IEnumerator GiveCommand()
{
Debug.Log("Starting command...");
Planning.Planner planner = null;
bool IsClickOnPlanner = Mouseover <Planning.Planner>(out planner);
if (!IsClickOnPlanner)
{
Debug.Log("Not a planner");
yield return(null);
}
else
{
Debug.Log("Hit" + planner.gameObject.name);
}
// Wait until they let go
AIGoal goal = null;
yield return(new WaitUntil(()
=> Mouseover(out goal)));
Debug.Log("Commanding " + planner.gameObject.name + " to " + goal.gameObject.name);
// Add the goal's conditions to the planner
planner.goal = goal.goal.Copy();
planner.DoPlanning();
// Wait until it's ready
yield return(new WaitUntil(() => !planner.currentlyPlanning));
// Start the AI routine to achieve whatever goal you just set;
planner.ExecutePlan();
Debug.Log("Ending Command");
yield return(null);
}
public void AddSubGoal(AIGoal goal)
{
if (goal == null)
{
return;
}
mSubGoals.Add(goal);
}
public bool AddCommand(AIGoal goal)
{
if (mStateCurrent == null)
{
return(false);
}
mStateCurrent.AddCommand(goal);
return(true);
}
public void AddCommand(AIGoal goal)
{
if (goal == null)
{
return;
}
mGoalQueue.AddSubGoal(goal);
return;
}
private void DisplayGoals()
{
if (agent.GoalsObject == null)
{
agent.GoalsObject = ObtainChildObject("Goals");
}
AIGoal[] goals = agent.GoalsObject.GetComponents <AIGoal>();
EditorGUILayout.LabelField("Goals:", EditorStyles.boldLabel);
if (goals == null || goals.Length == 0)
{
EditorGUILayout.HelpBox("You should select at least one goal in order for the AIAgent to do anything!", MessageType.Warning);
}
else
{
AIGoal goalToRemove = null;
for (int i = 0; i < goals.Length; i++)
{
EditorGUILayout.BeginHorizontal();
EditorGUIUtility.labelWidth = 50f;
EditorGUILayout.LabelField(goals[i].ToString());
goals[i].Priority = Mathf.Clamp(EditorGUILayout.FloatField("Priority", goals[i].Priority), 0, float.MaxValue);
if (GUILayout.Button("Remove"))
{
goalToRemove = goals[i];
}
EditorGUILayout.EndHorizontal();
EditorGUILayout.Space();
}
if (goalToRemove != null)
{
DestroyImmediate(goalToRemove);
}
}
EditorGUILayout.BeginHorizontal();
System.Type[] allTypes = (from System.Type type in Assembly.GetAssembly(typeof(AIGoal)).GetTypes() where type.IsSubclassOf(typeof(AIGoal)) select type).ToArray();
string[] allTypesStringArray = (from System.Type type in allTypes select type.ToString()).ToArray();
selectedGoalIndex = EditorGUILayout.Popup(selectedGoalIndex, allTypesStringArray);
if (GUILayout.Button("Add selected goal"))
{
if (!ComponentExists(goals, allTypes[selectedGoalIndex]))
{
AIGoal newGoal = (AIGoal)agent.GoalsObject.AddComponent(allTypes[selectedGoalIndex]);
newGoal.Priority = 1;
}
}
EditorGUILayout.EndHorizontal();
}
public void AddGoal(AIGoal goal)
{
goal.entity = entity;
goals.Add(goal);
goal.Prioritize();
goals.Sort();
if (goals[0] != activeGoal) {
activeGoal = goals[0];
SetAIState();
}
}
public override bool Init(int aiId)
{
if (!base.Init(aiId))
{
return(false);
}
// 解析idle状态默认行为
AIGoal goal = CommonAI.ParseGoalXML(this, mRes.commonIdle);
if (goal != null)
{
mStateIdle.AddCommand(goal);
}
return(true);
}
static public AIGoal ParseGoalXML(CommonAI ai, string xmlData)
{
if (xmlData == null)
{
return(null);
}
if (xmlData.Length == 0)
{
return(null);
}
XmlDocument xmlDoc = new XmlDocument();
xmlDoc.LoadXml(xmlData);
XmlNode node = xmlDoc.FirstChild;
if (node.Name != "root")
{
return(null);
}
bool loop = node.Attributes["loop"] != null?System.Convert.ToBoolean(node.Attributes["loop"].Value) : false;
AIGoalCompositeGoal rootGoal = new AIGoalCompositeGoal(ai, loop);
XmlNodeList nodeList = node.ChildNodes;
for (int i = 0; i < nodeList.Count; i++)
{
AIGoal goal = ParseGoalNode(ai, nodeList[i]);
if (goal == null)
{
return(null);
}
rootGoal.AddSubGoal(goal);
}
return(rootGoal);
}
public void SetGoal(AIGoal goal)
{
this.activeGoal = goal;
if (activeSubstate != null) {
// activeSubstate.OnGoalChanged(goal);
}
}
public void ActivateGoal(AIGoal goal)
{
if (goal.status == AIGoalStatus.Inactive) {
goal.OnActivate();
}
}
public void AddDynamicGoal(AIGoal goal)
{
goal.type = AIGoalType.Dynamic;
AddGoal(goal);
}
public Queue <AIAction> CalculatePlan(AIBrain ai, List <AIAction> allActions, StateDictionary currentWorldState, List <AIGoal> allGoals, out AIGoal activeGoal)
{
List <AIAction> applicapableActions = new List <AIAction>();
foreach (AIAction action in allActions)
{
if (action.CanBeAddedToPlan(ai)) // to remove unnecessary action branch in tree
{
action.JustBeforePlan(ai);
action.CalculateCost(ai); // Some actions can use dynamic cost based on confidence factors
applicapableActions.Add(action);
}
}
applicapableActions = applicapableActions.OrderBy(x => x.Cost).ToList();
List <Node> goalMatchingNodes = new List <Node>();
foreach (AIGoal goal in allGoals)
{
if (!goal.IsApplicapable(ai))
{
goal.Applicapable = false;
continue;
}
goal.Applicapable = true;
minCostPlan = new List <AIAction>();
//letter = 0;
Node startNode = new Node(/*letter++ + ""*/);
StateDictionary cWorldState = new StateDictionary(currentWorldState.conditions);
// Creates paths including first lowest cost action path
float maxCSoFar = Mathf.Infinity;
List <AIAction> applicapableNRelatedActions = new List <AIAction>();
foreach (var action in applicapableActions)
{
if (goalsToRelatedActions[goal].Contains(action))
{
applicapableNRelatedActions.Add(action);
}
}
CreateActionTree(startNode, cWorldState, goal.goalStates, applicapableNRelatedActions /*applicapableActions*/, goalMatchingNodes, ref maxCSoFar);
if (minCostPlan.Count > 0)
{
Queue <AIAction> actionQ = new Queue <AIAction>();
foreach (AIAction action in minCostPlan)
{
actionQ.Enqueue(action);
}
activeGoal = goal;
goal.lastUsedAt = Time.time;
return(actionQ);
}
else
{
continue;
}
}
activeGoal = null;
return(null);
}
public Queue <AIAction> CalculatePlan(AIBrain ai, List <AIAction> allActions, StateDictionary currentWorldState, List <AIGoal> allGoals, out AIGoal activeGoal)
{
// 挑选出当前可行的 行为然后计算消耗 加入可执行列表
List <AIAction> applicapableActions = new List <AIAction>();
foreach (AIAction action in allActions)
{
if (action.CanBeAddedToPlan(ai)) // to remove unnecessary action branch in tree
{
action.JustBeforePlan(ai);
action.CalculateCost(ai); // Some actions can use dynamic cost based on confidence factors
applicapableActions.Add(action);
}
}
//按照消耗排序当前 可以执行的行为
applicapableActions = applicapableActions.OrderBy(x => x.Cost).ToList();
List <Node> goalMatchingNodes = new List <Node>();
foreach (AIGoal goal in allGoals)
{
//跳过当前不能执行的方案
if (!goal.IsApplicapable(ai))
{
goal.Applicapable = false;
continue;
}
//更新目标的可执行状态
goal.Applicapable = true;
//最小消耗的行为列表
minCostPlan = new List <AIAction>();
//letter = 0;
Node startNode = new Node(/*letter++ + ""*/);
StateDictionary cWorldState = new StateDictionary(currentWorldState.conditions); //拷贝了一个状态
List <AIAction> applicapableNRelatedActions = new List <AIAction>();
// Creates paths including first lowest cost action path
float maxCSoFar = Mathf.Infinity;
//所有可用行为中 如果有涉及当前目标的行为 则加入列表
foreach (var action in applicapableActions)
{
if (goalsToRelatedActions[goal].Contains(action))
{
applicapableNRelatedActions.Add(action);
}
}
// 至此 已经按照消耗排序 并且筛选当前目标可用的行为
//
CreateActionTree(/* 空节点 */ startNode, /* 世界状态 */ cWorldState, /* 当前目的 */ goal.goalStates, /* 当前目标牵涉到的行为 */ applicapableNRelatedActions /*applicapableActions*/, goalMatchingNodes, ref maxCSoFar);
if (minCostPlan.Count > 0)
{
Queue <AIAction> actionQ = new Queue <AIAction>();
foreach (AIAction action in minCostPlan)
{
actionQ.Enqueue(action);
}
activeGoal = goal;
goal.lastUsedAt = Time.time;
return(actionQ);
}
else
{
continue;
}
}
activeGoal = null;
return(null);
}
private void UpdateActiveGoals()
{
for (int i = 0; i < goals.Count; i++) {
AIGoal goal = goals[i];
if (goal.status != AIGoalStatus.Pending) continue;
if (goal.UpdateGoalProgress() == AIGoalStatus.Pending) {
goal.Prioritize();
} else {
goal.priority = -1f;
}
}
goals.Sort();
if (goals[0] != activeGoal) {
activeGoal = goals[0];
SetAIState();
}
}
public AIState(AIGoal goal, Dictionary <string, object> newState)
{
preconditions = new Dictionary <string, object>(goal.GetConditions());
state = newState;
}
private void Awake()
{
goal = CreateGoal(priority);
}
public void RemoveGoal(AIGoal goal)
{
goal.priority = -1f;
if (activeGoal == goal) {
activeGoal = goals[0];
SetAIState();
}
}
public void DeactivateGoal(AIGoal goal)
{
if (goal.status == AIGoalStatus.Pending) {
goal.OnDeactivate();
}
}
